From cf0809c8fd69b5fe4d38fe30eff7140602fcff26 Mon Sep 17 00:00:00 2001
From: Tim Schneider <mail@tim-schneider.me>
Date: Tue, 28 May 2024 00:54:17 +0200
Subject: [PATCH] Made python binding of JointWaypoint accept JointState
 targets

---
 python/python.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/python/python.cpp b/python/python.cpp
index c07af435..457b42cc 100644
--- a/python/python.cpp
+++ b/python/python.cpp
@@ -747,14 +747,14 @@ PYBIND11_MODULE(_franky, m) {
            "return_when_finished"_a = true,
            "finish_wait_factor"_a = 1.2);
 
-  py::class_<Waypoint<Vector7d>>(m, "JointWaypoint")
+  py::class_<Waypoint<JointState>>(m, "JointWaypoint")
       .def(py::init<>(
                [](
-                   const Vector7d &target,
+                   const JointState &target,
                    ReferenceType reference_type,
                    RelativeDynamicsFactor relative_dynamics_factor,
                    std::optional<double> minimum_time) {
-                 return Waypoint<Vector7d>{
+                 return Waypoint<JointState>{
                      target, reference_type, relative_dynamics_factor, minimum_time};
                }
            ),